Animal-dwelling vehicle, and method

ABSTRACT

An animal-pen vehicle, a method for moving an animal-pen vehicle on a floor surface with bedding, and the use of an animal-pen vehicle in a poultry pen for poultry animals and/or in a pig pen is disclosed for the purposes of influencing positions at which poultry animals and/or pigs are residing. The animal-pen vehicle includes a substantially emissions-free drive, at least one movement unit which is coupled to the drive, wherein the movement unit is adapted to permit a movement of the animal-pen vehicle on the bedding, a position-determining device for determining a position of the animal-pen vehicle relative to animal-pen fixtures, and a control device for controlling the drive and for providing a predetermined travel profile, wherein the predetermined travel profile comprises at least one movement pattern and at least one preferential area that is to be travelled to within the poultry pen and/or pig pen.

CROSS-REFERENCE TO FOREIGN PRIORITY APPLICATION

The present application claims the benefit under 35 U.S.C. §§ 119(b),119(e), 120, and/or 365(c) of PCT/EP2018/066411 filed Jun. 20, 2018,which claims priority to German Application No. DE 202017103642.1 filedJun. 20, 2017.

FIELD OF THE INVENTION

The invention relates to an animal-pen vehicle for moving on a floorsurface with bedding and to a method for moving an animal-pen vehicle ona floor surface with bedding and to the use of an animal-pen vehicle ina poultry pen for poultry animals and/or in a pig pen for the purposesof influencing positions at which poultry animals and/or pigs areresiding.

BACKGROUND OF THE INVENTION

In very general terms, poultry can be kept in a caged environment, in asmall-group environment, in a barn environment, and/or in a free-rangeenvironment. The caged environment is, however, forbidden in manycountries. In the European Union, the presently most widespread mannerin which poultry is kept is in an aviary environment, wherein theanimals can move in or on the aviaries and on a floor surface on whichthe aviaries are arranged. The floor surface generally has bedding. Inparticular, the aviaries have been developed such that the well-being ofthe animals is improved, taking into consideration the necessaryproductivity.

It is desirable that, in their rest phases, the animals move into theaviaries and do not dwell on the floor surface or on the bedding of theanimal pen. The dwelling of poultry animals on the floor surface, inparticular, at nighttime, can firstly lead to reduced well-being of theanimal and can secondly jeopardize the health of the poultry animal andthus also of the entire poultry animal flock.

The residence on the floor surface can furthermore lead to ground eggs.Ground eggs are eggs which have not been laid in the laying nestprovided for this purpose, but rather on the floor surface or on thebedding of an animal pen. The ground eggs generally cannot be taken awayautomatically from this location, such that they must be collectedmanually by an operator.

The collection of ground eggs by a farmer is time-consuming and entailspersonnel costs. Furthermore, in the case of ground eggs, the assignmentof a time to these is difficult. The laying of ground eggs can give riseto a situation in which an egg collected by a farmer has not beenfreshly laid, but has rather already been lying there for a relativelylong time. The introduction of an egg that has been lying for arelatively long time in this way into the further processing chain isgenerally undesirable.

It is, therefore, an object of the present invention to alleviate oreliminate one or more of the stated disadvantages. In particular, it isan object of the invention to provide a solution which reduces theground egg quota of a poultry animal flock. It is furthermore an objectof the invention to provide a solution which increases the well-being ofthe animals and/or the health of the animals in the keeping of poultryanimals and/or the keeping of pigs.

SUMMARY OF THE INVENTION

Said object is achieved according to the invention by means of ananimal-pen vehicle for moving on a floor surface with bedding of apoultry pen and/or of a pig pen for the purposes of influencingpositions at which poultry animals and/or pigs are residing, comprisinga substantially emissions-free drive, at least one movement unit whichis coupled to the drive, wherein the movement unit is arranged anddesigned to permit a movement of the animal-pen vehicle on the bedding,a position-determining device for determining a position of theanimal-pen vehicle relative to animal-pen fixtures, a control device forcontrolling the drive and for providing a predetermined travel profile,wherein the travel profile comprises at least one movement pattern andat least one preferential area that is to be travelled to within thepoultry pen and/or pig pen.

The invention is based on the realization that targeted influencing ofpositions at which poultry animals and/or pigs are residing, inparticular, positions at which poultry animals and/or pigs are resting,results in a reduction of a ground egg quota and/or leads to the drivingof poultry animals and/or pigs.

The movement of an animal-pen vehicle on a floor surface with bedding isassociated with challenges. Vehicles with three, four or more wheelsgenerally become stuck in the bedding of the poultry pen, because thewheels sink in too far, and the vehicle thus lies with its body on thebedding. Furthermore, the bedding generally becomes stuck in the profileof the movement units, for example, wheels. This is the case, inparticular, in the case of damp bedding. In particular, the bedding is amaterial for covering the floor in animal pen facilities and absorbingthe excretions of the animals. The bedding serves, for example, forinsulation against cold temperatures rising from the ground, forcreating a favorable microclimate, and for absorbing water which isexcreted via the feces of the animals or which originates from thedrinking troughs. As material, use may be made, in particular, oforganic and mineral materials. As bedding, use is generally made ofgranular, pourable materials which have a high water-binding capacity ora high absorption capacity and which can absorb a large amount ofmoisture but which, even in the damp state, maintain a crumbly structureand remain loose and pourable, in particular hard and mobile and notsticky. Bedding material should furthermore be clean, dry, andbiologically degradable and have a low dust fraction and not be ladenwith dust, fungi, or spores. Examples of bedding materials are strawgranules composed of ground and pressed straw or chopped straw or shortstraw, wherein, as straw types, use is made, in particular, of wheatstraw, barley straw, or rye straw; spelts; woodchips, in particular,non-impregnated, dust-free and fungi-free softwood chips; wood shavings;pulp; dried corn silage; corn cob granulate; or similar material. InGermany, use is preferentially made of short straw or chopped strawand/or woodchips. The floor surface, possibly with the bedding, of apoultry pen is designed, in particular, as a livestock area.

During the movement of the animal-pen vehicle on the bedding, inparticular. on damp bedding, continuous operation or a continuousmovement of the animal-pen vehicle within the poultry pen should be madepossible. The animal-pen vehicle should be movable within the poultrypen without human intervention, in particular, in an autonomous manner,such that the animal-pen vehicle ensures reliable influencing of theposition at which poultry animals are residing, in particular, at whichpoultry animals are resting, in particular, for the purposes of reducinga ground egg quota and/or for the purposes of driving poultry animals.The animal-pen vehicle is, in particular, designed for being able tomove both on the bedding and on an animal-pen floor without bedding.

The animal-pen vehicle, in particular, the structural design thereof andthe functions thereof, is designed in accordance with respectivelyapplicable regulations, in particular, in the context of animal welfarelaw.

The animal-pen vehicle is driven by the substantially emissions-freedrive. An emissions-free drive is distinguished by the fact that itemits substantially no volatile combustion products and, in particular,also emits substantially no emissions that are harmful to animal health.The substantially emissions-free drive is coupled to the movement unit,wherein the movement unit permits a movement of the animal-pen vehicleon the bedding, in particular, on damp bedding. It is furthermorepreferable for the movement unit to permit a movement of the animal-penvehicle on slatted floors.

The position-determining device of the animal-pen vehicle is arrangedand designed to permit the determination of the position of theanimal-pen vehicle relative to animal-pen fixtures of the poultry pen.It is furthermore preferable for the position-determining device to bearranged and designed for determining the position of the animal-penvehicle relative to animal-pen boundaries, in particular, outeranimal-pen boundaries, such as for example animal-pen walls. By means ofsuch a position-determining device, the animal-pen vehicle can move in amanner substantially unhindered by solid, immovable objects in theanimal pen.

It may furthermore be preferable for the control device to be arrangedand designed to compare a position of the animal-pen vehicle asdetermined by means of the position-determining device with a setpointposition of the provided travel profile, and/or for the control deviceto be arranged and designed to control the drive and/or the movementunit such that the position determined by means of theposition-determining device substantially corresponds to a setpointposition of the provided travel profile.

The control device is, in particular, arranged and designed such that itcontrols the drive and provides a predetermined travel profile, whereinthe travel profile comprises at least one movement pattern and at leastone preferential area that is to be travelled to within the poultry pen.A travel profile thus comprises a movement pattern and a preferentialarea. The movement pattern may be synonymously referred to as a movementroute or as a travel path. The preferential area is situated on thismovement pattern or is a particular area which is travelled to at leastin certain sections over the course of the route of the movementpattern.

In this preferential area, the animal-pen vehicle moves in accordancewith predefined criteria. For example, in the preferential area, theanimal-pen vehicle may perform a circulating and/or zigzag-shaped and/orback-and-forth movement. Furthermore, the animal-pen vehicle may alsoperform further functionalities in the preferential area. It isfurthermore preferable for the travel profile to comprise two or morepreferential areas. The preferential areas are preferably selected suchthat they comprise preferred locations of the poultry animals. Thesepreferred locations are preferentially utilized by the poultry animals,in particular, for the laying of ground eggs and/or for dwelling innight phases. By virtue of the animal-pen vehicle travelling to thepreferential areas, the animals in these areas are more vigorouslyanimated so as to thus not produce any ground eggs or remain hereovernight. With regard to the specific form of the animation of theanimals, it is necessary, in particular, to observe national andinternational animal welfare laws. It is furthermore preferable for thetravel profile to comprise two or more movement patterns, wherein themovement patterns may, for example, be dependent on the time of day. Inthe present context, dependency on the time of day refers, inparticular, to the artificial time of day prevailing in the animal pen,because, in a closed poultry pen, it is generally the case that times ofday are simulated which differ from those actually prevailing outsidethe poultry pen. The time of day is generally simulated in a poultry penby means of the light conditions.

In a preferred design variant of the animal-pen vehicle, provision ismade whereby an animal-pen vehicle height is smaller than a clear heightof the at least one preferential area that is to be travelled to, inparticular, is smaller than a clear height of a preferential area belowanimal-pen fixtures that is to be travelled to. The clear height of theat least one preferential area that is to be travelled to is preferablya parameter stored in the predetermined travel profile. This means thatthe preferential areas only have clear heights such that travel of theanimal-pen vehicle is made possible here at all times. Areas whose clearheight is lower than the animal-pen vehicle height are, therefore, notpart of the preferential area.

Such an area of excessively small clear height may also be surrounded bya preferential area. For example, animal-pen fixtures may, under theirlowermost level, have actuating motors which face toward the animal-penfloor. These actuating motors may have a clear height over theanimal-pen floor or the bedding which is smaller than an animal-penvehicle height, wherein the region under the actuating motor is then notincluded in the preferential area.

In particular, the clear height of poultry residence facilities mountedon stands must be taken into consideration. Furthermore, the clearheight generally under animal-pen fixtures of the poultry pen must betaken into consideration in the parameterization of the travel profiles.In particular, provision is made whereby the animal-pen vehicle heightis smaller than 450 mm, and/or smaller than 400 mm, and/or smaller than350 mm, and/or smaller than 300 mm, and/or smaller than 250 mm, and/orsmaller than 200 mm. By means of an animal-pen vehicle designed in thisway, travel is made possible to a large part of a poultry pen. In thisway, influencing of positions at which poultry animals are residing, inparticular, positions at which poultry animals are resting, can be madepossible in targeted fashion and at substantially all locations in thepoultry pen, and a reduction of a ground egg quota, and/or driving ofpoultry animals, can be made possible over a large area.

In a further preferred design variant of the animal-pen vehicle,provision is made whereby the predetermined travel profile has a travelprofile distance to be travelled and/or a travel profile duration, andthe control device is arranged and designed to control a movement of theanimal-pen vehicle such that the animal-pen vehicle moves within thepreferential areas that are to be travelled to over more than 20%,and/or 30%, and/or 40%, and/or 50%, and/or 60%, and/or 70%, and/or 80%of the travel profile distance, and/or the animal-pen vehicle moveswithin the preferential areas that are to be travelled to over more than20%, and/or 30%, and/or 40%, and/or 50%, and/or 60%, and/or 70%, and/or80% of the travel profile duration.

A further preferred development of the animal-pen vehicle isdistinguished by the fact that it comprises an animating device with atleast one animation, wherein the control device is preferably arrangedand designed to activate the animation when the animal-pen vehicle ispositioned within a preferential area and/or in the region of apredefined animation area and/or to activate and/or deactivate and/orvary the animation in a manner dependent on the time.

The animating device is, in particular, arranged and designed to detecta poultry animal and direct the animation, in particular, an opticalsignal, at the poultry animal in targeted fashion. The animating deviceis, in particular, arranged and designed to animate the animals on thefloor surface into activity such that they do not permanently dwell onthe floor surface. This is desirable for the purposes of promoting thewell-being and the state of health of the animals, and further-more alsoreduces the ground egg quota, such that an economic advantage can alsobe achieved here.

In particular, it is preferable for the animating device to be arrangedand designed to emit at least one optical signal, and/or at least oneacoustic signal, and/or a fluid, in particular, water, as animation.Furthermore, it is possible for the animating device to emit a fluid, inparticular, water, as animation. Animation of the poultry animals ismade possible already by the movement of the animal-pen vehicle. Inparticular, the targeted movement of the animal-pen vehicle within apreferential area permits the targeted animation of a poultry animal.Furthermore, a poultry animal can also be animated by contact with theanimal-pen vehicle.

Furthermore, the animating device may be arranged and designed toprovide manipulable elements for poultry animals. For example, balls,alfalfa bales, or pecking stones may be used as manipulable elements.

A further particularly preferred design variant of the animal-penvehicle provides for the control device to be designed to provide afirst travel profile and a second travel profile, wherein a firstmovement pattern of the first travel profile differs from a secondmovement pattern of the second travel profile, and the control device isarranged and designed to provide the first travel profile and the secondtravel profile in a time-dependent manner. Alternatively, or inaddition, the first travel profile differs from the second travelprofile by the number and/or location of the preferential areas. It isfurthermore preferable for a reference model of a poultry pen and/or ofa pig pen to be stored in the control device and for the travel profileor the travel profiles to be determined on the basis of the referencemodel, wherein, preferably, the reference model of the poultry penand/or of the pig pen comprises animal-pen boundaries, and/or fixtures,and/or passages between two or more animal-pen sections, in particular,residence areas.

According to a further aspect of the invention, the object stated in theintroduction is achieved by means of an animal-pen vehicle for moving ona floor surface with bedding of a poultry pen and/or of a pig pen forthe purposes of influencing positions at which poultry animals and/orpigs are residing, comprising a substantially emissions-free drive, atleast one movement unit which is coupled to the drive, wherein themovement unit is arranged and designed to permit a movement of theanimal-pen vehicle on the bedding, a position-determining device fordetermining a position of the animal-pen vehicle relative to animal-penfixtures, a control device for controlling the drive, a housing whichencloses preferably a top side, averted from the bedding, of theanimal-pen vehicle and/or preferably, at least in certain portions, sidesurfaces of the animal-pen vehicle, wherein the housing is mounted infloating fashion, in particular, with respect to a main body and/or achassis of the animal-pen vehicle, and/or at least onecollision-detecting device is provided which is arranged and designed todetect contact with an obstruction, in particular, with an object and/oran animal, wherein the at least one collision-detecting devicepreferably comprises at least one impact sensor.

A collision-detecting device has the advantage that collisions of theanimal-pen vehicle with poultry animals and/or objects can be detected,which makes it possible, on the basis of a collision, to provideappropriate control, for example to stop the animal-pen vehicle.Preferably, the collision-detecting device is designed to detect contactwith an obstruction, in particular, with an object and/or an animal,irrespective of the direction of motion of the animal-pen vehicle, forexample, also during reverse and/or sideward travel of the animal-penvehicle.

Preferably, in the event of the collision detection, a recovery ofenergy (recuperation) occurs, in particular, of the energy expended forbraking of the animal-pen vehicle.

Preferred embodiments of one or more aspects stated herein will bedescribed below.

In a preferred embodiment, the at least one collision-detecting devicecomprises at least one impact element which is preferably arrangedand/or designed to interact with the impact sensor.

In a preferred embodiment, the at least one collision-detecting devicecomprises at least one reference object which is preferably arrangedand/or designed to interact with the impact sensor.

It is furthermore preferable if the impact sensor is arranged on thehousing and the impact element and/or the reference object is arrangedon the main body and/or on the chassis.

A further preferred embodiment provides for the impact sensor to bearranged on the main body and/or on the chassis and for the impactelement and/or the reference object to be arranged on the housing.

A collision detection may preferably be performed by means of acontactless or contact-based detection of a relative displacementbetween impact sensor and impact element and/or of a relativedisplacement between impact sensor and reference object. A collisiondetection may preferably be performed by means of a non-opticaldetection of a relative displacement between impact sensor and impactelement and/or of a relative displacement between impact sensor andreference object. A contact-based and/or non-optical detection has theadvantage of being particularly highly suitable for a dusty environmentin the animal pen.

A collision detection may also be performed by means of contact ofimpact sensor and impact element and/or contact of impact sensor andreference object.

The collision detection is preferably performed mechanically and/orelectromagnetically and/or optically and/or by means of ultrasoundand/or by means of radar and/or by means of laser, in particular opticallaser, and/or by means of thermography and/or magnetically and/orcapacitively and/or inductively and/or electromechanically and/orelectrically and/or by means of eddy current.

The impact sensor is preferably comprised by a mounting arrangement ofthe housing and/or arranged on a mounting arrangement of the housing.The impact sensor may also be arranged for example on an inner surfaceof the housing, which preferably faces toward the main body and/orchassis of the animal-pen vehicle.

Preferably, at least two collision-detecting devices are provided whichare arranged and/or designed to detect different collision directions.In particular, it may be preferable for the at least twocollision-detecting devices to be arranged at an angle, in particular,at a 90° angle, with respect to one another. Through the provision of atleast two collision-detecting devices, an impact direction can bedetected in a particularly preferred manner. An impact direction ispreferably a direction in which an object causing the collision or theimpact is situated, for example, in relation to a central and/orreference point of the animal-pen vehicle and/or in relation to an, inparticular instantaneous, direction of motion of the animal-pen vehicle.

The collision-detecting device may, for example, be in the form of abutton-type detection means. For this purpose, it is preferably possiblefor a button to be arranged as impact sensor on the chassis of theanimal-pen vehicle and for an impact element, for example in the form ofan impact plate, impact angle piece, of an elevation or of a recess, tobe arranged on the housing, preferably on the inner surface thereof,which is also referred to as housing bottom side. Alternatively, theimpact element may be arranged on the chassis of the animal-pen vehicle,and the impact sensor may be arranged on the housing, preferably on thehousing bottom side. In the normal state (without a collision), theimpact element and the impact sensor are preferably spaced apart fromone another. In the event of a collision, a relative movement occursbetween impact element and impact sensor. If the relative movement isgreat enough to bridge the spacing, and the impact element makes contactwith the impact sensor, a switch is preferably activated, and/or acollision is detected.

The collision-detecting device may, for example, be in the form of ananalogue impact-detecting means. For this purpose, an analog sensorand/or a sensor with continuous measurement in conjunction with athreshold value may preferably be provided.

The collision-detecting device may preferably comprise a proximitysensor and/or a potentiometer, preferably with a switching threshold.

It is furthermore preferable for the collision-detecting device tocomprise a situation sensor and/or a position sensor, wherein thesituation sensor and/or a position sensor is preferably designed todetermine its situation relative to another object.

The collision-detecting device may have a reference object which maypreferably perform a function similar to the impact element.

The collision-detecting device may, for example, be designed as aninductive and/or capacitive collision-detecting means. For this purpose,it is preferably possible for a continuous measurement to be provided,preferably with the possibility of storing multiple threshold values inthe impact sensor and/or in a sensor controller. An inductive and/orcapacitive impact sensor may preferably be arranged on the chassis,wherein the reference object is preferably arranged on the housing. Theinductive and/or capacitive impact sensor may also be arranged on thehousing, and the reference object arranged on the chassis. The referenceobject is preferably electrically conductive, preferably with lowresistance. The reference object may for example be in the form of anelevation or a recess.

The collision-detecting device may, for example, be designed as amagnetic collision-detecting means. For this purpose, it is preferablypossible for a continuous measurement to be provided, preferably withthe possibility of storing multiple threshold values in the impactsensor and/or in a sensor controller. A magnetic impact sensor maypreferably be arranged on the chassis, wherein the reference object ispreferably arranged on the housing. The magnetic impact sensor may alsobe arranged on the housing, and the reference object arranged on thechassis. The reference object is preferably formed from a magneticmaterial. Preferably, the reference object comprises a magnetic pattern,for example, an alternating sequence of north and south poles. Ameasurement of the relative movement of impact sensor and referenceobject with respect to one another may be performed, for example, bycounting the alternations in polarity. A magnetic sensor may, forexample, operate in accordance with the principle of a Hall sensor, inaccordance with the principle of a reed contact, or in accordance withthe magnetoresistive principle.

The collision-detecting device may, for example, be designed as anoptical collision-detecting device. For this purpose, it is preferablypossible for a continuous measurement to be provided, preferably withthe possibility of storing multiple threshold values in the impactsensor and/or in a sensor controller. An optical impact sensor maypreferably be arranged on the chassis, wherein the reference object ispreferably arranged on the housing. The optical impact sensor may alsobe arranged on the housing and the reference object arranged on thechassis. The reference object is preferably designed in a mannerdependent on the measuring method and/or in a manner dependent on theimpact sensor, and may, for example, be of reflective or non-reflectiveform. The reference object preferably comprises an optical pattern, forexample, an alternating sequence of detection marks. A measurement ofthe relative movement of impact sensor and reference object with respectto one another may be performed, for example, by counting thealternations of detection marks. The optical pattern may be ofrepeating, structured, unstructured, unidirectional, bidirectional, orarbitrary form. The pattern preferably permits counting of patternalternations during a relative movement of impact sensor and referenceobject. Pattern detection of material-inherent patterns is likewisepossible, which may be performed, for example, by means of a specklemeasuring method. An optical collision detection, and the preferredembodiments thereof, in particular, also has the advantage that animpact direction can also already be determined by means of acollision-detecting device.

The collision-detecting device may, for example, be designed as anelectromechanical collision-detecting means and may preferably comprisea potentiometer, in particular, a linear potentiometer and/or a rotarypotentiometer, preferably with transmission, for example, in the mannerof a control stick (joystick). For example, the impact sensor maycomprise the fixed part of the potentiometer, and the movable part ofthe potentiometer may serve as reference object. For this purpose, it ispreferably possible for a continuous measurement to be provided,preferably with the possibility of storing multiple threshold values inthe impact sensor and/or in a sensor controller. An electromechanicalimpact sensor may preferably be arranged on the chassis, wherein thereference object is preferably formed by the movable part of thepotentiometer and is preferably connected to the housing. Theelectromechanical impact sensor may also be arranged on the housing, andthe reference object formed by the movable part of the potentiometer andpreferably connected to the chassis. Accordingly, for example, in theevent of a relative movement of the housing with respect to the chassis,the adjustable part of the potentiometer can be moved, which isassociated with a change in the electrical resistance of thepotentiometer, and inference of the change in situation and/or positionis made possible. As is also the case for most other embodiments of thecollision-detecting device, the provision of two collision-detectingdevices with potentiometers permits the situation determination inmultiple dimensions. For example, a potentiometer combination in theform of a control stick, such as is known for example from the controlof remote-controlled vehicles, may be used.

In a further particularly preferred design variant of the animal-penvehicle, said vehicle comprises a housing which encloses a top side,averted from the bedding, of the animal-pen vehicle and/or, at least incertain portions, side surfaces of the animal-pen vehicle. The housingis preferably mounted in floating fashion.

Preferably, the housing has a contact portion which is preferably formedin encircling fashion around the outer periphery of the housing. Thecontact portion may, for example, be of ring-shaped form. In particular,it is preferable for the contact portion to form, in a substantiallyhorizontal direction, the outer edge of the animal-pen vehicle, suchthat contact with an obstruction is realized preferably only via thecontact portion. The housing and/or the contact portion may for examplebe formed from plastic, in particular from polyurethane (PUR), or maycomprise plastic, in particular, polyurethane (PUR). The housing and/orthe contact portion may preferably be of soft and/or elastic form so asnot to cause damage in the event of contact with an obstruction.Furthermore, the housing preferably comprises at least one impact sensorwhich is arranged and designed to detect contact of the housing with anobstruction, in particular, with an object and/or an animal. The atleast one impact sensor may preferably be arranged on a mountingarrangement of the housing. The mounting arrangement may be formed fromplastic, in particular from polyurethane (PUR), or may comprise plastic,in particular, polyurethane (PUR).

It is furthermore preferable for the at least one impact sensor to bearranged and designed to detect an impact direction, and/or for the atleast one impact sensor to have a variable sensitivity, which ispreferably variable in a manner dependent on a position of theanimal-pen vehicle determined by the position-determining device, and/orfor the at least one impact sensor to be arranged and designed to beactivated and/or deactivated and/or varied in predetermined positions ofthe animal-pen vehicle.

A further particularly preferred development of the animal-pen vehicleis distinguished by the fact that the control device is arranged anddesigned to travel to an obstruction position two or more times for thepurposes of detecting a movable or static obstruction, and/or thecontrol device is arranged and designed to travel around a detectedstatic obstruction for a predetermined period of time, and/or thecontrol device is arranged and designed to travel to a detected staticobstruction again after a predetermined period of time. It is thuspossible in targeted fashion to distinguish between objects and animals.Furthermore, an object can be checked with regard to its spatialflexibility. For example, there are obstructions or objects which do notchange their location in the long term. These include, for example,supports or struts of the animal pen or of the aviaries. Furthermore,objects are also conceivable which, although they are present as anobstruction in the animal pen for a limited period of time, they do notremain in the animal pen in the long term. It is relevant here that theanimal-pen vehicle can distinguish between long-term objects and objectswhich remain for short periods in the animal pen, in order to thus adaptthe travel profile if necessary.

It is furthermore preferable for the position-determining device tocomprise a barcode reading unit and/or a QR (quick response) codereading unit and/or a data matrix code reading unit. In a furtherpreferred development, provision is made for the position-determiningdevice to be arranged and designed to determine a position of theanimal-pen vehicle within a poultry pen and/or a pig pen whencontaminated with dust and/or dirt, wherein the position-determiningdevice preferably has an ultra-wideband unit and/or an RFID(radio-frequency identification) unit and/or a radio unit and/or anodometer and/or an inertial sensor arrangement.

A floating mounting arrangement may also be referred to as a slidingmounting arrangement. A floating mounting arrangement advantageouslypermits automatic resetting into an initial position, which can also bereferred to as rest position.

The floating mounting arrangement of the housing on the main body ispreferably realized by means of one, two, three, four, or more mountingpoints. It is particularly preferable for at least three, in particularfour, mounting points to be provided. The mounting is realizedpreferably by means of at least one spring element per mounting point.

Furthermore, the floating mounting arrangement is preferably designed soas to yield a stroke range, in particular, in a substantially horizontaldirection, of the housing to the main body of at least +/−25 mm,preferably +/−30 mm, in particular at least +/−50 mm. In particular, itmay be preferable for the stroke range in the direction of a maindirection of movement of the animal-pen vehicle to amount toapproximately +/−50 mm, and in a direction orthogonal with respectthereto, which is preferably likewise substantially horizontal and canalso be referred to as lateral direction, to amount to approximately+/−30 mm.

In a preferred embodiment, the floating mounting arrangement is designedfor automatic resetting into an initial position, preferably by means ofat least one spring element, wherein the spring element is arrangedpreferably on the housing or main body and/or is of disk-shaped formand/or has recesses.

A spring element preferably has a corresponding restoring force in orderto realize the stated ranges. The at least one spring element maypreferably be composed of an elastic material or have an elasticmaterial. An elastic material may for example be composed of a polymeror may have a polymer, for example an EPDM.

Preferably, the spring element is of disk-shaped form. The extent of thespring element in the installed state in a horizontal plane ispreferably several times greater than that in a vertical directionorthogonal with respect to the horizontal plane. The spring elementpreferably has a height, which in the installed state is oriented in avertical direction, of at most 20 mm, preferably at most 15 mm,particularly preferably at most 10 mm. The shape of the spring elementin the horizontal plane, which can also be referred to as disk plane, isarbitrary, and may preferably be rectangular.

In a preferred embodiment, the at least one spring element is ofstructured design. A structured design is to be understood here, inparticular, to mean a design which is not solid. In particular, it ispreferable for the spring element to have recesses which may beirregular or regular. In particular, the recesses may assume anygeometrical figure. Preferably, the recesses are round, elliptical,triangular, rectangular, pentagonal, hexagonal, octagonal, or of someother polygonal form. A honeycomb-shaped design is particularlypreferred, wherein a honeycomb may, in particular, be hexagonal.Furthermore, amorphous structures are also possible, for example throughthe use of elastic foams. The recesses may be open on one side or onmultiple sides, or may be formed as closed cavities.

Through the material selection and/or through the structuring of thespring element, in particular, by means of recesses, and/or throughcombinations of these, it is possible to realize a spring hardnessand/or a spring characteristic curve of the spring element which meetsthe requirements of the field of use. For example, in the case ofpolymers being used, different degrees of hardness are possibleproceeding from the same base material.

The spring element preferably has a spring action primarily orexclusively in a substantially horizontal direction in the installedstate.

The at least one spring element may be attached to the housing or to themain body. In the case of multiple spring elements being used, it ispossible for all spring elements to be arranged on the housing or on themain body. A mixed arrangement of spring elements on the housing and onthe main body is also possible.

The spring element preferably has a holding device which is designed tofasten the spring element to the housing and/or to the main body. Theholding device preferably has edge boundaries which encompass the springelement at at least one side, preferably at at least four sides. Oneside of the spring element is preferably a surface, which issubstantially vertical in the installed state, of the spring element.Preferably, the holding device has a cover part which encompasses apart, in particular, an edge region, of a disk surface of the springelement. A disk surface of the spring element is preferably a surface,which is horizontal in the installed state, of the spring element. Bymeans of these designs, secure hold of the spring element in differentpositions of the animal-pen vehicle can be ensured, and/or the springelement can be prevented from falling out. The provision of a cover partof the holding device may furthermore contribute to preventing orreducing excessive protrusion or bulging of the spring element in theevent of intense deflection or loading of the spring element. The edgeboundaries of the holding device are preferably designed for fasteningto the housing and/or to the main body. For this purpose, the edgeboundaries may preferably have fastening flanges.

It is furthermore preferably possible for the spring element to have areceptacle for a fastening element, for example, a pin. It is preferablefor a honeycomb-shaped recess of the spring element to have a receptacleof said type.

A structured design of a substantially disk-shaped spring element hasvarious advantages. A spring element of said type has a small structuralheight, in particular, in the case of a design as a honeycomb structureor a similar structure. Such a spring element furthermore exhibits highresistance to dirt and/or high resistance to ammonia, which promotes usein the animal pen. Furthermore, the spring element is preferablyforce-free in the initial position, which can also be referred to asrest position. This can contribute to a lengthened service life of thespring elements. Furthermore, installation of the spring elements,possibly also retroactively, is easily possible, for example, by virtueof said spring elements being fitted on and/or placed on.

A further preferred design variant of the animal-pen vehicle isdistinguished by the fact that it comprises a coupling device for thedetachable fastening of a functional unit, wherein the functional unitis preferably selected from the group comprising a bedding tiller,and/or a bedding pusher, and/or a dispensing device for manipulablematerial, and/or a chick paper dispensing device.

It is furthermore preferable for the movement unit to comprise one, two,or more wheels, and/or one, two, or more crawler chains, wherein,preferably, the one, two, or more wheels and/or the one, two, or morecrawler chains is or are designed to be flexible. The crawler chains maycomprise plastic and/or steel or be composed of plastic and/or steel. Inparticular, elastic materials are preferred. The flexible form promotesself-cleaning of the wheels or of the crawler chains, such that cleaningcan be omitted.

It is furthermore preferable for the emissions-free drive to comprise anelectric drive, and/or a fuel cell. It is furthermore preferable for theanimal-pen vehicle to comprise an energy store, in particular, abattery.

Also preferable is a poultry pen for poultry animals which comprises afloor surface with bedding, at least one poultry residence facility,which is supported on the floor surface, and an animal-pen vehicle,according to at least one of the design variants mentioned above, formoving on the floor surface with bedding. In particular, it ispreferable for the poultry pen to comprise a multiplicity of RFIDtransponders, and/or an ultra-wideband device, and/or a position radarsystem, and/or a multiplicity of barcodes, and/or a multiplicity of QRcodes and/or data matrix codes, wherein the multiplicity of QR codesand/or data matrix codes is preferably arranged on a ceiling of thepoultry pen, wherein the multiplicity of RFID transponders, and/or theultra-wideband device, and/or the position radar system, and/or themultiplicity of barcodes, and/or the multiplicity of QR codes and/ordata matrix codes are arranged and designed to interact with aposition-determining device of the animal-pen vehicle.

According to a further aspect of the invention, the object stated in theintroduction is achieved by means of a method for moving an animal-penvehicle on a floor surface with bedding of a poultry pen and/or of a pigpen for the purposes of influencing positions at which poultry animalsand/or pigs are residing, comprising providing an animal-pen vehicle, inparticular, an animal-pen vehicle according to at least one of thedesign variants described above, within a poultry pen and/or a pig penwith at least one poultry residence facility and/or pig residencefacility, moving the animal-pen vehicle with a predetermined travelprofile, wherein the travel profile comprises at least one movementpattern and at least one preferential area to be travelled to within thepoultry pen and/or pig pen.

In particular, the movement of the animal-pen vehicle on the floorsurface with bedding serves for influencing positions at which poultryanimals are residing, in particular, positions at which poultry animalsare resting, in particular, for the purposes of reducing a ground eggquota and/or for the purposes of driving poultry animals.

In a preferred design variant of the method, provision is made wherebysaid method comprises activating an animation of the animating devicewhen the animal-pen vehicle is positioned within a preferential areaand/or in the region of a predefined animation area, and/or detecting apoultry animal and/or a pig and directing the animation at the poultryanimal and/or the pig in targeted fashion. In particular, it ispreferable for the animation to comprise an optical signal and/or theemitting of a fluid, in particular, water. It is furthermore preferablefor the predetermined travel profile to have a travel profile distanceto be travelled and/or a travel profile duration, and for the animal-penvehicle to move within the preferential areas that are to be travelledto over more than 20%, and/or 30%, and/or 40%, and/or 50%, and/or 60%,and/or 70%, and/or 80% of the travel profile distance, and/or for theanimal-pen vehicle to move within the preferential areas that are to betravelled to over more than 20%, and/or 30%, and/or 40%, and/or 50%,and/or 60%, and/or 70%, and/or 80% of the travel profile duration.

According to a further aspect of the present invention, the objectstated in the introduction is achieved through the use of an animal-penvehicle, in particular, of an animal-pen vehicle according to at leastone of the design variants described above, in a poultry pen for poultryanimals and/or in a pig pen for the purposes of influencing positions atwhich poultry animals and/or pigs are residing.

It is furthermore preferable for the animal-pen vehicle to be used forreducing a ground egg quota and/or for driving poultry animals and/orpigs, wherein, preferably, the poultry animals are driven from a floorsurface of an animal pen, and/or the poultry animals in restingpositions on the floor surface are animated, in particular, in order toreduce the number of ground eggs of a flock.

The method according to the invention and the possible developmentsthereof have features or method steps which make it suitable, inparticular, for being used for an animal-pen vehicle according to theinvention and the developments thereof. For further advantages, designvariants, and design details of these further aspects and the possibledevelopments thereof, reference is also made to the above descriptionrelating to the corresponding features and developments of theanimal-pen vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

Preferred embodiments of the invention will be discussed by way ofexample on the basis of the appended figures, in which:

FIG. 1 is schematic, three-dimensional view of an exemplary embodimentof an animal-pen vehicle;

FIG. 2 is a three-dimensional exploded view of the animal-pen vehiclefrom FIG. 1;

FIG. 3 is a schematic, three-dimensional, partially transparent view ofthe animal-pen vehicle from FIG. 1;

FIG. 4 is a schematic, two-dimensional side view of the animal-penvehicle as per FIG. 1;

FIG. 5 is a schematic, three-dimensional view of the animal-pen vehiclefrom FIG. 1 with a functional unit;

FIG. 6 is a schematic side view of a further exemplary embodiment of ananimal-pen vehicle;

FIG. 7 is a schematic side view of the animal-pen vehicle from FIG. 6with a different functional unit;

FIG. 8 is a schematic plan views of three exemplary embodiments ofanimal-pen vehicle housings;

FIG. 9 is a schematic view of an animal pen with exemplary embodimentsof a travel profile;

FIG. 10 is a schematic side view of an animal pen with an exemplaryembodiment of an animal-pen vehicle;

FIG. 11 is a schematic illustration of the principle of a magneticcollision detection;

FIG. 12 is a schematic, three-dimensional view of an exemplaryembodiment of a spring element;

FIG. 13 is a schematic, three-dimensional, partially sectional view ofan exemplary embodiment of a housing with four spring elements; and

FIG. 14. is a schematic sectional illustration through a spring elementfastened to a main body.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In the Figures, identical or substantially functionally identical orsimilar elements are denoted by the same reference designations.

FIGS. 1 to 5 show an animal-pen vehicle 100 which has a housing 110 anda first crawler device 130 and a second crawler device 140. The housing110 encloses the upper part of the animal-pen vehicle 100 such that therespective upper half of the first and second crawler device 130, 140 isenclosed to the outside by the housing 110. The housing 110 comprises ahousing upper part 112, which has an areal and, during operation,substantially horizontal extent. Furthermore, the housing 110 comprisesa first housing end part 114 and a second housing end part 116, which isarranged so as to be curved around the front and/or rear part of theanimal-pen vehicle. Furthermore, the housing 110 has two housing sideparts 118.

The internal construction of the animal-pen vehicle 100 can be seen, inparticular, from FIG. 2. The Figure shows inter alia the first crawlerdevice 130 which, aside from the crawler chain 136, also has a firstdrive axle 131. The drive axle 131 has a motor 132 and a coupling unit133. With this coupling unit 133, the motor 132 is coupled via a firstcrawler wheel 134 to the crawler chain 136, such that the drive axle 131is coupled via the first crawler wheel 134 to the crawler chain 136. Thesecond crawler device 140 is of analogous construction and comprises asecond drive axle 141. The crawler chain 136 may have any suitablematerial. In particular, it is preferable for the crawler chain 136 tobe composed of a plastic and/or a steel or to comprise a plastic and/ora steel. It is particularly preferable for the crawler chain 136 to beformed from an elastomer, in particular, a rubber, or for the crawlerchain to comprise an elastomer, in particular, a rubber.

Furthermore, the animal-pen vehicle 100 has a main body 120, on whichthe crawler devices 130, 140 are arranged laterally, wherein the motorsof the drive axles 131, 141 project into the interior space of the mainbody 120 through passage openings 121, 122. Furthermore, an integratedpositioning device and control device 150 and a battery box 115 with abattery 113 are arranged on the main body 120. Furthermore, astroke-imparting unit 152 for the positioning device and control device150 is arranged within the main body 120, wherein the positioning deviceand control device 150 can be removed from the animal-pen vehiclepreferably with the stroke-imparting unit 152. In particular, FIGS. 3and 4 show the specific construction of the crawler device 130, 140,wherein the arrangement over a first crawler wheel 134 and a secondcrawler wheel 135 is shown. These two crawler wheels 134, 135 serve fortensioning the crawler chain 136. The first crawler wheel 134 has anaxle stub 137.

FIG. 5 shows a charging station 160 with a front wall 162 and with afirst side wall 164 and a second side wall 166 arranged orthogonallywith respect to the front wall 162 and likewise with a horizontalextent. On the front wall 162, there is furthermore arranged, at thebottom edge, a horizontal wall 168. The charging station 160 may beconnected to the animal-pen vehicle 100 via a station coupling device161 of the charging station 160 and a vehicle coupling device 170 of theanimal-pen vehicle 100, and the battery of the animal-pen vehicle 100can thus be charged. The station coupling device 161 has a coupling pin163, which is arranged and designed to be arranged in a coupling opening171 of the vehicle coupling device 170.

FIG. 6 shows an animal-pen vehicle 200 which has a crawler drive with afirst crawler device 210 which comprises a first crawler wheel 214 and asecond crawler wheel 215, which are looped around by a crawler chain216. The animal-pen vehicle 200 furthermore has a pecking materialcontainer 202, which is connected via a conveying device 204 to apecking dish 206. The pecking dish 206 offers a mobile conveyance ofpecking material, such that poultry animals can firstly be supplied withfeed by means of the animal-pen vehicle 200, which can furthermore alsoserve as manipulable material. The animal-pen vehicle 200 furthermorehas various functional units. The functional unit may for example have,or be designed as, a bedding teller 220, a pushing device 230, and asweeping unit 240. Furthermore, the animal-pen vehicle 200 has a chickpaper dispensing device 270 for chick paper 271. Feed for chicks can bescattered on the chick paper 271 in order that the chicks do not have tostand on the cold animal pen floor while feeding. The chick paper 271furthermore facilitates the cleaning of the animal pen.

In FIG. 7, the animal-pen vehicle 200 is equipped with an egg-collectingdevice 250, which comprises an articulated-arm robot 252 with an egggripper 254. The animal-pen vehicle 200 furthermore has an egg-detectingdevice 256, which is preferably coupled to a control device of thearticulated-arm robot 252 and of the gripper 254 such that a detectedegg 10 can be picked up by the egg gripper 254 in targeted fashion.

FIG. 8 shows plan views of housings of animal-pen vehicles, which eachhave different geometries. The housing 301 has a circular geometry. Thehousing 302 comprises a rectangular portion and a semicircular portion.The housing 303 has a rectangular portion and a first semi-circularportion, the diameter of which has the same extent as the side of therectangular portion on which the semicircular portion is arranged. Atthe apex of the abovementioned semicircular portion, there is a furtherportion comprising a rectangular portion and a circular-segment-shapedportion. The different housings 301, 302, 303 may be utilized fordifferent usage purposes. The housing shape 302 has, in particular, theadvantage that it can move forward as far as into a corner. Theadvantage of the housing 301 lies, in particular, in the low risk ofinjuries to poultry animals.

FIG. 9 shows an animal pen 400 with an outer animal-pen boundary 402 andtwo inner animal-pen boundaries 404, 406. The first inner animal-penboundary 404 and the second inner animal-pen boundary 406 are designedas walls through which the poultry animals cannot pass. The first inneranimal-pen boundary 404 and the second inner animal-pen boundary 406,however, have passage facilities through which an animal-pen vehicle canalso move. Also arranged in a corner of the animal pen is the chargingstation 410, which is to be regarded as the base station for theanimal-pen vehicle. Here, the batteries of the animal-pen vehicle can becharged and the animal-pen vehicle can be cleaned. Furthermore, thecharging station 410 serves as a rest station for the animal-pen vehiclewhen it is not presently in operation. The charging station 410 may forexample be designed analogously to the charging station 160 shown inFIG. 5.

Furthermore, FIG. 9 shows a travel profile of an animal-pen vehicle,which is illustrated by arrows and circles. The travel profile firstlycomprises the movement pattern 412, which is distinguished by travelthrough the various animal pen areas. Furthermore, the travel profilealso comprises the six preferential areas 420, 421, 422, 423, 424, 425,in which the animal-pen vehicle particularly preferentially moves. Thepreferential areas 420 to 425 are preferably selected on the basis ofempirical values, in particular, on the basis of an accumulation ofground eggs and/or dwelling of poultry animals at nighttime having beendetected here.

FIG. 10 shows an animal pen 500 with an animal-pen roof 502 and with afloor surface 504, wherein first animal-pen fixtures 506 and secondanimal-pen fixtures 508 are arranged on the floor surface 504. Theanimal-pen fixtures 506, 508 have a clear height 507 underneath them.The animal-pen vehicle 300 has an animal-pen vehicle height smaller thanthe clear height 507 of the animal-pen fixtures 506, 508.

By means of an animal-pen vehicle 100, 200, 300 described above, thepositions at which poultry animals are residing, in particular,positions at which poultry animals are resting, can be influenced, inparticular, for the purposes of reducing a ground egg quota and/or forthe purposes of driving poultry animals. In particular, by travellingthrough a travel profile with a movement pattern 412 and at least onepreferential area 420 to 425, the ground egg quota and instances ofanimals remaining on the floor surface overnight can be reduced.

FIG. 11 is a schematic illustration of the principle of a magneticcollision detection with a collision-detecting arrangement 600, whichcomprises a first collision-detecting device 601 and a secondcollision-detecting device 602. A non-optical detection in the form of amagnetic detection has the advantage of being particularly highlysuitable for a dusty environment in the animal pen.

The two collision-detecting devices 601, 602 are of substantiallyidentical form, but arranged so as to be offset with respect to oneanother by 90°. In this way, different collision directions can bedetected. Through the provision of two collision-detecting devices 601,602, it is particularly preferably possible for an impact direction, inparticular, a direction in which an object causing the collision or theimpact is situated, for example in relation to a central and/orreference point of the animal-pen vehicle and/or in relation to an, inparticular, instantaneous, direction of motion of the animal-penvehicle, to be detected.

The first collision-detecting device 601 has a first magnetic impactsensor 611 and a first reference object 621. The secondcollision-detecting device 602 has a second magnetic impact sensor 612and a second reference object 622.

The first impact sensor may preferably be arranged on the chassis of ananimal-pen vehicle, and the first reference object arranged on a housingmounted in floating fashion on the chassis, in particular, on thehousing bottom side. The first impact sensor may also be arranged on thehousing, and the first reference object arranged on the chassis. Thesame arrangement principles also apply to the second collision-detectingdevice 602. It is also possible for different arrangements to beselected for the first and second collision-detecting device 601, 602.

The collision-detecting devices 601, 602 are arranged and designed todetect contact with an obstruction, in particular, with an object and/oran animal, preferably irrespective of the direction of motion of theanimal-pen vehicle, that is to say, for example, also during reverseand/or sideward travel of the animal-pen vehicle.

The magnetic collision detection preferably takes the form of acontinuous measurement, preferably with the possibility of storingmultiple threshold values in the impact sensors 611, 612 and/or in asensor controller. The reference objects 621, 622 are formed frommagnetic material and comprise a magnetic pattern, in this case analternating sequence of north and south poles in each case. Ameasurement of the relative movement of the first impact sensor andfirst reference object with respect to one another may be performed bycounting the alternations in polarity. The profiles of the magnetic fluxdensity B and of the electrical voltage U for the firstcollision-detecting device 601 that arise in the case of such a relativemovement are plotted in the graphs 631 and 632. Correspondingly, ameasurement of the relative movement of second impact sensor and secondreference object with respect to one another may also be performed bycounting the alternations in polarity, likewise resulting incorresponding profiles of the magnetic flux density B and of theelectrical voltage U.

FIGS. 12 to 14 illustrate an exemplary embodiment of a spring element700 and of the use thereof for a floating mounting of the housing 110 onthe main body 120. The spring element 700 is of not solid but structuredform, and has multiple regular recesses 701 in the form of hexagonalhoneycombs, which are open at their top and bottom sides. A centralhoneycomb has a receptacle 702 for a fastening element in the form of afastening pin 720.

The spring element 700 furthermore has a holding device 710 which has acover part 713 and edge boundaries 711 with fastening flanges 712.Fastening holes 714 are provided on the fastening flanges 712.

The spring element 700 is of substantially disk-shaped form and, in theinstalled state, has an extent in a substantially horizontal plane whichamounts to several times the height, which in the installed state issubstantially vertical, of the spring element.

It is preferably possible, as illustrated in FIG. 13, for four mountingpoints with in each case one spring element 700 to be provided. FIG. 14shows a fastening of the spring element to the main body 120 in the caseof which the fastening pin 720 is fastened to the main body 120 andprojects upward in the direction of the housing 110 and, in so doing,engages into the receptacle 702 of a honeycomb of the spring element700.

A structured embodiment of disk-shaped spring elements has the advantageof a small structural height, high resistance to dirt and ammonia, andsimple installation.

Collisions of the animal-pen vehicle with poultry animals and/or objectscan be detected by means of the collision-detecting arrangement 600. Itis thereby possible, on the basis of a collision, to provide appropriatecontrol, for example, to stop the animal-pen vehicle.

1.-15. (canceled)
 16. An animal-pen vehicle adapted for movement on afloor surface or a bedding material on the floor surface of a poultry orpig pen for the purpose of influencing a position at which a poultryanimal or pig is residing, comprising: a substantially emissions-freedrive; at least one movement unit coupled to the drive, wherein themovement unit is adapted to permit a movement of the animal-pen vehicleon the floor surface or the bedding material on the floor surface; aposition-determining device for determining a position of the animal-penvehicle relative to one or more animal-pen fixtures; and a controldevice for controlling the drive and for providing a predeterminedtravel profile, wherein the predetermined travel profile comprises atleast one movement pattern and at least one preferential area to whichis to be travelled within the poultry or pig pen.
 17. The animal-penvehicle pursuant to claim 16, wherein a height of the animal-pen vehicleis smaller than a clear height of the at least one preferential area towhich is to be travelled.
 18. The animal-pen vehicle pursuant to claim16, wherein a height of the animal-pen vehicle is smaller than a clearheight of the at least one preferential area below one of the animal-penfixtures to which is to be travelled.
 19. The animal-pen vehiclepursuant to claim 16, wherein the predetermined travel profile has atravel profile distance to be travelled or a travel profile duration,and the control device is adapted to control a movement of theanimal-pen vehicle such that the animal-pen vehicle moves within the atleast one preferential area to which is to be travelled over more than20% of the travel profile distance or duration.
 20. The animal-penvehicle pursuant to claim 16, further comprising an animating devicewith at least one animation; wherein the control device is adapted toactivate the animation when the animal-pen vehicle is positioned withinthe at least one preferential area or in the region of a predefinedanimation area and the control device is adapted to activate,deactivate, or vary the animation in a time-dependent manner.
 21. Theanimal-pen vehicle pursuant to claim 20, wherein the animating device isadapted to emit at least one optical signal, at least one acousticsignal, or a fluid as the at least one animation; and wherein thecontrol device is adapted to provide a first travel profile and a secondtravel profile, wherein a first movement pattern of the first travelprofile differs from a second movement pattern of the second travelprofile, and the control device is adapted to provide the first travelprofile and the second travel profile in a time-dependent manner. 22.The animal-pen vehicle pursuant to claim 21, wherein the poultry or pigpen comprises a plurality of animal-pen sections, a reference model ofthe poultry or pig pen is stored in the control device, and one or moreof the first or second travel profiles is determined on the basis of thereference model; and wherein the reference model of the poultry or pigpen comprises animal-pen boundaries, fixtures, or passages between twoor more of the plurality of animal-pen sections.
 23. The animal-penvehicle pursuant to claim 22, wherein the plurality of animal-pensections comprise residence areas.
 24. The animal-pen vehicle pursuantto claim 16, comprising: a housing enclosing a top side, averted fromthe floor surface or the bedding material on the floor surface, of theanimal-pen vehicle and, at least in certain portions, a first sidesurface and a second side surface of the animal-pen vehicle, wherein thehousing is mounted in floating fashion; and wherein the housingcomprises at least one impact sensor adapted to detect contact of thehousing with an obstruction, wherein the impact sensor comprises amounting arrangement of the housing.
 25. An animal-pen vehicle adaptedfor movement on a floor surface or a bedding material on the floorsurface of a poultry or pig pen for the purpose of influencing aposition at which a poultry animal or pig is residing, comprising: asubstantially emissions-free drive; at least one movement unit coupledto the drive, wherein the movement unit is adapted to permit a movementof the animal-pen vehicle on the floor surface or the bedding materialon a floor surface; a position-determining device for determining aposition of the animal-pen vehicle relative to one or more animal-penfixtures; a control device for controlling the drive; a housingenclosing a top side, averted from the floor surface or the beddingmaterial on the floor surface, of the animal-pen vehicle, wherein thehousing is mounted in floating fashion with respect to a main body or achassis of the animal-pen vehicle; and at least one collision-detectingdevice adapted to detect contact with an obstruction, wherein the atleast one collision-detecting device comprises at least one impactsensor.
 26. The animal-pen vehicle pursuant to claim 25, wherein thehousing further comprises, at least in certain portions, a first sidesurface and a second side surface of the animal-pen vehicle and theleast one collision-detecting device is adapted to detect contact withan object or an animal.
 27. The animal-pen vehicle pursuant to claim 25,wherein the at least one collision-detecting device comprises at leastone impact element adapted to interact with the impact sensor or atleast one reference object adapted to interact with the at least oneimpact sensor; and wherein the impact sensor is arranged on the housingand the at least one impact element or the at least one reference objectis arranged on the main body or on the chassis of the animal-penvehicle.
 28. The animal-pen vehicle pursuant to claim 25, wherein the atleast one impact sensor further comprises a mounting arrangement on thehousing, the at least one impact sensor is arranged on the main body orthe chassis of the animal-pen vehicle and the at least one impactelement, or the at least one reference object is arranged on thehousing.
 29. The animal-pen vehicle pursuant to claim 27, whereincollision detection is performed by any of: contactless or contact-baseddetection of a relative displacement between the at least one impactsensor and the at least one impact element or a relative displacementbetween the at least one impact sensor and the at least one referenceobject; contact of the at least one impact sensor and the at least oneimpact element or contact of at least one impact sensor and the at leastone reference object; mechanical, electromagnetic, optical, ultrasonic,magnetic, capacitive, inductive, electromechanical, or electricaldetection; or at least two collision-detecting devices adapted to detectdifferent collision directions.
 30. The animal-pen vehicle pursuant toclaim 25, wherein: the at least one impact sensor is adapted to detectan impact direction; the at least one impact sensor has a variablesensitivity variable in a manner dependent on a position of theanimal-pen vehicle determined by the position-determining device or isadapted to be activated, deactivated, or varied in predeterminedpositions of the animal-pen vehicle; the control device is adapted tocause the animal-pen vehicle to travel to an obstruction position two ormore times for the purposes of detecting a movable or staticobstruction, travel around a detected static obstruction for apredetermined time, or travel to a detected static obstruction againafter for a predetermined period of time; the position-determiningdevice comprises a barcode reading unit, a QR code reading unit, or adata matrix code reading unit, or the position-determining device isadapted to determine a position of the animal-pen vehicle within apoultry or pig pen when contaminated with dust or dirt, wherein theposition-determining device comprises an ultra-wideband unit, an RFIDunit, a radio unit, an odometer, or an inertial sensor arrangement; orthe floating housing is adapted for automatic resetting into an initialposition by at least one spring element, wherein the spring element isarranged on the housing or the main body, is of disk-shaped form, or hasrecesses.
 31. The animal-pen vehicle pursuant to claim 25, comprising acoupling device for the detachable fastening of a functional unit,wherein the functional unit is preferably selected from the groupconsisting of a bedding tiller, a bedding pusher, a dispensing devicefor manipulable material, or a chick paper dispensing device.
 32. Theanimal-pen vehicle pursuant to claim 25, wherein the emissions-freedrive comprises an electric drive or a fuel cell and the movement unitcomprises one or more wheels and one or more crawler chains, wherein theone or more crawler chains is flexible.
 33. The use of the animal-penvehicle pursuant to claim 25 in a poultry or pig pen for poultry animalsor pigs for the purposes of influencing positions at which poultryanimals or pigs are residing.
 34. A method for moving an animal-penvehicle on a floor surface or a floor surface with bedding of a poultryor pig pen for the purposes of influencing positions at which poultryanimals or pigs are residing, the method comprising the steps of:providing within a poultry or pig pen with at least one poultryresidence facility or pig residence facility an animal-pen vehiclecomprising a substantially emissions-free drive, at least one movementunit coupled to the drive, wherein the movement unit is adapted topermit a movement of the animal-pen vehicle on the floor surface or thebedding material on the floor surface, a position-determining device fordetermining a position of the animal-pen vehicle relative to one or moreanimal-pen fixtures, and a control device for controlling the drive andfor providing a predetermined travel profile, wherein the predeterminedtravel profile comprises at least one movement pattern and at least onepreferential area to which is to be travelled within the poultry or pigpen; moving the animal-pen vehicle with a predetermined travel profile,wherein the predetermined travel profile comprises at least one movementpattern and at least one preferential area to which is to be travelledwithin the poultry or pig pen.
 35. The method pursuant to claim 34,further comprising the steps of: activating an animation of an animatingdevice when the animal-pen vehicle is positioned within the at least onepreferential area or in a region of a predefined animation area; ordetecting a poultry animal or a pig and directing the animation at thepoultry animal or the pig in targeted fashion; wherein the predeterminedtravel profile has a travel profile distance to be travelled or a travelprofile duration such that the animal-pen vehicle moves within the atleast one preferential area to be travelled to over more than 20% of thetravel profile distance or duration.